Maneuvering object tracking method based on Liapunov guidance vector and particle filter

Abstract

The invention provides a maneuvering object tracking method based on Liapunov guidance vector and particle filter, which belongs to the field of unmanned plane object tracking. The method comprises the steps that when the unmanned plane determines the maneuvering object to be tracked, a dynamics model is firstly established for the maneuvering object; the particle filter method and the measuring information of an optical camera are adopted, and the position and speed of the maneuvering object can be estimated; at each time, each particle undergoes importance sampling, and the state estimationand the estimation variance matrix and the importance weight of each particle can be updated; if particle validity is smaller than the validity threshold, the particles will undergo re-sampling; if particle validity is more than or equal to the threshold, the estimation of position and speed of the maneuvering object can be output; the unmanned plane tracking path scheduling can be conducted by means of the Liapunov guidance vector method, and the controlled variable of tracking maneuvering object by the unmanned plane at this time can be obtained. The invention is advantageous in that the state information having unknown input ground maneuvering object can be effectively estimated, and thereby the spiral tracking of the unmanned plane to the maneuvering object can be realized.

Description

technical field [0001] The invention relates to a maneuvering target tracking method based on Lyapunov guidance vector and particle filter, and belongs to the field of unmanned aerial vehicle target tracking. Background technique [0002] With the rapid development of UAV technology in the military and civilian fields, it has become a new trend to use UAVs to track ground mobile targets, such as border patrol, disaster relief protection, transportation escort, etc. [0003] In general, the UAV captures the target through its own optical camera. The focal length of the camera needs to be adjusted as the distance between the target and the UAV changes. However, it is very difficult to adjust the focal length of the camera during the movement. Naturally, we hope that the relative distance between the UAV and the tracked target remains constant during the tracking process. Therefore, it is a good solution to control the UAV to circle the maneuvering target in a circular orbit. ...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to overcome the problem that the tracked maneuvering target has unknown control input, which leads to difficult estimation and tracking of state information, and proposes a maneuvering target tracking method based on Lyapunov guidance vector and particle filter

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